Provided is a method for generating target detection information, including detecting target objects around the vehicle by multiple different types of sensors, and determining the detection targets representing a same target object, detected by the different types of sensors, by spatial position and time tracing. With taking the target object as the detection result, the target detection information generated for the detection result includes a spatial matching confidence of the detection result in the current detection period, a time matching confidence of the detection result, and target detection information on each of the detection targets representing the detection result, collected by the sensor detecting the detection target in a dimension corresponding to the sensor.